Application of state feedback and observer inmulti-axle vehicle steering system

A 3-degrees of freedom multi-axle vehicle dynamic model is established.Taking account of the practical difficulties for measuring the sideslip,rolling angles and rolling angle speed,a Luenberger observer is designed,and the simulation and analysis of the Luenberger observer are performed.The results show that the Luenberger observer has excellent characteristics in the considered speed range in tracking path.Then,a state feedback controller is designed on the basis of the Luenberger observer,and simulation of a multi-axle vehicle is also carried out.The results show that the performances of a multi-axle vehicle with the proposed control strategy is better than a multi-axle vehicle with front wheel steering strategy,and its control system has fine dynamic characteristic and strong robustness,so multi-axle vehicle with the proposed control strategy can improve vehicle handling stability and security.     

Vehicle Lateral Stability Control Based on Sliding Model Control

In view of the vehicle cornering or path changing under ultimate handling maneuver, a 3-DOF nonlinear vehicle dynamics model which takes the vehicle lateral velocity, yaw rate and body roll angle as the State variables is presented. Based on the dynamic analysis, the method which using additional yaw moment produced by different longitudinal braking force among each wheels to improving vehicle handling stability in emergency situations is discussed. Considering the sideslip angle as one of the vehicle state variables is difficult to measuring, the sideslip angle estimation based on vehicle dynamic model and kinematics is designed. And then, based on the theory of siding model control, the combining sliding model control system is founded, which taking the vehicle yaw rate and body side-slip angle errors between the estimated and the real as the input variables, and taking the braking torque and the steering angle as control aims. The simulation results indicate that the control method can effectively improve the vehicle lateral handling stability.     

Handling performace evaluation of a vehicle stability control system based on a driver model

By combining a driver model, a vehicle system dynamics model, and a vehicle lateral stability control system, the performance of the driver vehicle road closed loop system through a pylon course slalom test was simulated. The simulation was done in accordance with the GB/T6323.1-94 standard. Vehicle stability control system effectiveness was evaluated by measuring the mean maximum yaw rate and the mean maximum steering wheel angle. The simulation results showed the slalom test value with lateral stability control was approximately 4% higher than without a stability control system. This indicates the controlling system improves vehicle handling stability.     

Single-point preview control for unmanned high-speed4WID-4WIS vehicle path tracking

As for the actuation redundancy, strong nonlinearity and uncertainty, a kind of single-point preview control approach for the unmanned high-speed four-wheel-independent-drive & steering (4WID-4WIS) vehicle path tracking is proposed based on the control allocation and the Active Disturbance Rejection Control(ADRC) methods. The vehicle single-point preview system dynamic model for path tracking is built. The control system architecture with the control allocation unit as the core is constructed. The decouple single-point preview ADRC controller for path tracking is designed. Then the quasi-inertial parts used to generate control objectives are proposed and its rationality is discussed. The control allocation solution method for the 4WID-4WIS vehicle path tracking is subsequently presented. The simulations are conducted to illustrate the validity of the single-point preview control method proposed. The results show that the unmanned high-speed 4WID-4WIS vehicle can track the circular arc double-lane change path rapidly and accurately.     

Synthesized Feedback Control of the ESP system Based on Fuzzy technology

Based on the fuzzy control technology,the feedback control method of synthesized yaw rate and side slip angle is presented for the ESP system.The influence of nonlinear characteristics of tires on cornering characteristics and driving stability of vehicle is considered.The nonlinear tire model(Magic Formula) is adopted,and the four-wheel vehicle model with two degrees of freedom and a vehicle reference model are set up on this basis.Then the fuzzy controller of yaw rate and the fuzzy controller of side slip angle are designed and a simulation model generated by Simulink software is used.Simulation results show that the lateral stability of vehicle can be enhanced by controlling yaw rate and side slip angle with the synthesized feedback control method.     

Analysis and synthesis of time-dependent reliability for integrated steering mechanisms

The steering performance of vehicle is directly affected by the kinematic accuracy of steering trapezoid mechanisms. Considering uncertainties that exist in steering mechanisms, the theory of kinematic time-dependent reliability is adopted to study the analysis and synthesis of the integrated mechanisms. A new method for high accuracy actual steering mechanisms design with the uncertainties is presented. Probabilistic model of kinematic error with dimension random variable is established, and analytical models of up-crossing rate and down-crossing rate for solving the time-dependent reliability of steering mechanisms are derived. A determination model and reliability model for mechanisms synthesis are built, and a numerical example are given to verify the effectively and robustness of time-dependent reliability synthesis method.     

Synthetic Control Strategy for a Car With Hydro-mechanical Continuously Variable Transmission System at Standing Start

Continuously variable transmission (CVT) is the ideal transmission for automobile, it is also one of the most important research items of researchers and automobile companies all over the world. The dynamic simulation model is established and integrated control strategy of standing start is proposed for dual mode CVT vehicle, aiming at automatic vehicle with torque converter as a starter and metal pushing belt as a higher transmission equipment (Dual mode CVT vehicle), on the base of engine and torque converter performance experiment. Simulation result shows that vehicle performance can be improved by using the control strategy proposed. The research results provide the theory method of analyzing and designing for CVT vehicle.     

Simulation and analysis of all terrain vehicle ride comfort

A multi rigid body dynamic model of an all terrain vehicle (ATV) is established in MSC.ADAMS. The model takes into consideration the body, suspension, frame and the steering system. According to the method of superposition of harmonic wave, a Grade B road file is created in ADAMS for the riding comfort test. The engine excitation is analyzed. The infliction for engine excitation to ADAMS is achieved. The ATV ride comfort simulation is carried out with the excitation of the engine, and the seat vibration is evaluated using an evaluation method programmed via MATLAB. It has laid a good foundation for further analysis.     

Vehicle Power Steering System Based on Human-simulated Intelligent Control

Thetraditional power steering by fluid drive has many defects such as producing extra steering, oil pollution and consuming excessive resources. Electric Power Steering is servo-control system which can supply power by motor which is controlledby micro-processor-embeded controller. So the application of Electric Power Steering Systemin vehicleis the developing direction. Based on the deep research of power steering system for vehicle, aiming at the complexity and uncertaintyof road and the difference for driver operating habit, the paper presents a sort of new algorithmthat is stronger in robustness, better in adaptability. The algorithmhas been applied in the physical vehicle steering system. The engineering practice shows that the algorithmtakes care of both control effect and person's feeling, and it is satisfactory to control effect.     

Modeling and simulating the vehicle riding dynamics considering gradient effects

Considering road characteristic parameters such as lateral gradient, longitudinal gradient and synthetic gradient, and based on 15 degrees of freedom (DOF) vehicle dynamics model, the authors develop the vehicle dynamics model, tire vertical load variation model and whole vehicle riding dynamics simulation model combined with steering system, braking system, power train system, wheel and suspension models. The situations are compared under different lateral, longitudinal, synthetic gradient and vehicle speed. The simulation results show that yaw rate maintains invariably to longitudinal gradient variation, but decreases gradually with the increase of lateral and synthetic gradient. The margin of fluctuation and peak value increase with the increase of vehicle speed under the same gradient; front wheel sideslip angle maintains invariably to longitudinal and synthetic gradient variation, yet increases with the increase of lateral gradient; the roll rate decreases and then increases with the increase of lateral and synthetic gradient, and the margin of fluctuation and peak value increase with the vehicle speed increase under the same longitudinal gradient.     

Techniques of Dynamic Mesh in the CFD Transient Analysis of an Engine

Four techniques of dynamic mesh are Spring-based Smoothing, Dynamic Layering, Local Remeshing and the ALE method in the CFD transient simulation of engine. Based on those techniques, The authors analyze the improved measure of technique of dynamic mesh in the CFD transient analysis of the engine and propose the combined technique of dynamic mesh based on the finite volume method which is appropriate for. The CFD transient simulation of engine. At last, the 2D dynamic mesh method is applied to the typical pent-roof engine and the paper simulates the transient 3-D flow field at the tangent inlet of engine by applying the combined technique of dynamic mesh based on the finite volume method. The result of the simulation agrees well with experiment.     

One Auto-optimized Fuzzy Control of Car-engines Based on GA

One new auto-optimized fuzzy control model of car-engines based on genetic arithmetic was introduced aiming at the problem that the parameters of car-engine are of the discreteness, the nonlinear and the uncertain characteristics, with which it is difficult to control accurately the excess air coefficient and the spark advance angle in dynamic procedure when using a conventional control model. The rule of the design scheme of the controller achieving the model based on embedded operating system is discussed. Further more, it is probed that the fuzzy control parameters are optimized automatically using GA based on on-line real-time simulation. The results of experiments show that the dynamic indexes and the fuel economy indexes are all improved greatly and the advantage of the model on reducing fuel consumption is obvious.     

Analytic Solution of Anchor Bolts with Dynamic Detection

Sonoprobe method has been applied in non-destructive inspection of anchorage project. Its fundament is that to use dynamic transient excitation for inducing anchor bar's elastic vibration. The flaws in the bar can be estimated or deduced by determining transient response of anchor bar. Based on the theory of elasto-dynamics, in this paper, a theoretical model of acoustic detection of anchor bar has been built up. On the mechanics field, this method means that if information of disturbance resource, boundary conditions and initial conditions has been given, the dominant equation describing medium motion would be established. That is, it leads to the problem of initial value or initial boundary value of hyperbolic type or hyperbolic-diffusibility type equation. Thereby the dynamic response could be solved. As an example, analytic solution of heterogeneous wave equation is deduced in case of bounded region.     

Optimal Control of Semi-Active Suspensions with ER Shock Absorber

An ER shock absorber with mixed mode is designed and its mathematical model is built. The optimal control method with LQ is applied to semi-active suspension systems in vehicle. A optimal output tuner is designed on basis of 1/4 dynamic model and the characteristics of the ER shock absorber. Its aim function and the weighting parameter matrix are determined. The feedback gain vector is found from solving the Algebraic Equation. The result shows that the optimal controller could not only diminish the body acceleration effectively but also improve the ride and handling characteristics. The construction of the ER shock absorber is reasonable and its performance meets the optimal control requirements of semi-active suspension system under the 3 kV/mm. In additional, the optimal control has low cost and energy consumption as well as rapid response . Such a system can meet with the requirements of semi-active suspension control completely.     

Application Research on Vehicle Handling Stability Using Simulative Analysis

A multi-body simulation approximate model of a vehicle using ADAMS software is established, and a frontrear suspension system, a steering system, the tires and all connectors are studied. Vehicle handling stability under different tests is simulated. The result is credible and valid, the parameter of vehicle model is amended expediently. This simulation can help design products and reduce a development cycle.     

Dynamic characteristic analysis and optimization of high power-density steering gear

Steering gear is an important device on a ship,whose performance quality affects ship greatly.Aiming at high power-density steering gear which is composed of electro-hydraulic system and ball rotary-oscillating actuator,a mathematics model of the steering gear system is deduced.The system optimization design is carried out using optimization theory.Dynamic simulations of the pre and post optimized systems are made by MATLAB software to analyze dynamic characteristics.The analysis results show that the optimized steering gear can meet practical needs.     

Simulation of The Torque Control System of Motor for Hybrid Vehicle

A strategy for induction motor control based on the grade of errors is developed to improve the performance of hybrid vehicle drive system. The stator flux error, electric magnetic torque error and flux position angle are used as control variables, and rules for the switching states are chosen according to the errors and the principle of the Direct Torquc Control. This strategy improves efficiently the electric magnetic torque response of the system. The result of simulation shows that this strategy is an ideal control strategy of hybrid vehicle, which can make the motor generate the electric magnetic torque efficiently, steadily and quickly.     

Dynamic scheduling method of vehicle air-conditioning assembly shop based on feedback control

By analyzing the inherent uncertainties, discrete uncertainties and external environmental uncertainties, a dual-feedback control strategy and the dynamic scheduling method are proposed to solve the dynamic scheduling problem of vehicle air-conditioning assembly shop under uncertainty. Considering the reentrant constraint, equipment capacity constraint, and time discrete constraint etc., the multi-objective scheduling model of vehicle air-conditioning assembly shop is set up,taken the earliness/tardiness, process time, production cost and quality loss as optimization objectives. According to the characteristic of the model, sectional chromosome encoding, crossover operator and mutation operator are designed to prevent the generation of illegal solutions and improve efficiency of the algorithm. An example is given to prove the feasibility and validity of the approach.     

A charge balance control algorithm of dual-transistors forward converter

An algorithm is proposed for dual-transistors forward converter (DTFC) by using the principle of charge balance control during a transient process to improve their dynamic performance. Combined with response curve,the theoretical analysis and some key equations are presented to improve the dynamic performance of the DTFC by minimizing the over/under shoot and the recovery time. In order to avoid the magnetic saturation of the transformer,an approximate method is introduced in the calculation of the optimal switching time,which can also be applied to other isolated converters when the maximum duty cycle is limited. Finally,the simulation results and the experimental results of the prototype show that,compared with the traditional voltage mode control,the proposed algorithm can significantly improve the dynamic performance of DTFCs.     

Analysis of Vehicle-Bridge Coupled Vibrations for Simply Supported Girder Bridge Considering Bridge Surface Roughness

Bridge surface roughness is usually considered to be the main Influencing factors of vehicle-bridge coupled vibrations.The way that obtaine Bridge surface roughness by the transformation of power spectral density is effective and rapid.The Bridge surface roughness is obtained by Fourier inverse transform method and trigonometric series method respectively. It can be concluded from the comparision that the precision of Fourier inverse transform method is higher than trigonometric series method. The vibration functions for 4-dofs Vehicle and bridge were derived with the employment of d'Alembert principle and computational procedures for vehicle-bridge coupled vibration were compiled. The dynamic response of a simply supported beam and vehicle was analyzed considering bridge surface roughness which was obtained by Fourier inverse transform method.The research shows that the influence due to the bridge surface roughness is significiant and vehicle speed also effects the bridge vibrations by changing the frequency of the force acting on the bridge due to vehicle and the force acting on the vehicle due to bridge deformation.